Teleoperation experiments with a Utah/MIT hand and a VPL DataGlove

A teleoperation system capable of controlling a Utah/MIT Dextrous Hand using a VPL DataGlove as a master is presented. Additionally the system is capable of running the dextrous hand in robotic (autonomous) mode as new programs are developed. The software and hardware architecture used is presented and the experiments performed are described. The communication and calibration issues involved are analyzed and applications to the analysis and development of automated dextrous manipulations are investigated

Fast linear algebra is stable

In an earlier paper, we showed that a large class of fast recursive matrix multiplication algorithms is stable in a normwise sense, and that in fact if multiplication of $n$-by-$n$ matrices can be done by any algorithm in $O(n^{\omega + \eta})$ operations for any $\eta > 0$, then it can be done stably in $O(n^{\omega + \eta})$ operations for any $\eta > 0$. Here we extend this result to show that essentially all standard linear algebra operations, including LU decomposition, QR decomposition, linear equation solving, matrix inversion, solving least squares problems, (generalized) eigenvalue problems and the singular value decomposition can also be done stably (in a normwise sense) in $O(n^{\omega + \eta})$ operations.Comment: 26 pages; final version; to appear in Numerische Mathemati

From incommensurate correlations to mesoscopic spin resonance in YbRh2Si2

Spin fluctuations are reported near the magnetic field driven quantum critical point in YbRh2Si2. On cooling, ferromagnetic fluctuations evolve into incommensurate correlations located at q0=+/- (delta,delta) with delta=0.14 +/- 0.04 r.l.u. At low temperatures, an in plane magnetic field induces a sharp intra doublet resonant excitation at an energy E0=g muB mu0 H with g=3.8 +/- 0.2. The intensity is localized at the zone center indicating precession of spin density extending xi=6 +/- 2 A beyond the 4f site.Comment: (main text - 4 pages, 4 figures; supplementary information - 3 pages, 3 figures; to be published in Physical Review Letters

Magnetic field splitting of the spin-resonance in CeCoIn5

Neutron scattering in strong magnetic fields is used to show the spin-resonance in superconducting CeCoIn5 (Tc=2.3 K) is a doublet. The underdamped resonance (\hbar \Gamma=0.069 \pm 0.019 meV) Zeeman splits into two modes at E_{\pm}=\hbar \Omega_{0}\pm g\mu_{B} \mu_{0}H with g=0.96 \pm 0.05. A linear extrapolation of the lower peak reaches zero energy at 11.2 \pm 0.5 T, near the critical field for the incommensurate "Q-phase" indicating that the Q-phase is a bose condensate of spin excitons.Comment: 5 pages, 4 figure

Approximating Spectral Impact of Structural Perturbations in Large Networks

Determining the effect of structural perturbations on the eigenvalue spectra of networks is an important problem because the spectra characterize not only their topological structures, but also their dynamical behavior, such as synchronization and cascading processes on networks. Here we develop a theory for estimating the change of the largest eigenvalue of the adjacency matrix or the extreme eigenvalues of the graph Laplacian when small but arbitrary set of links are added or removed from the network. We demonstrate the effectiveness of our approximation schemes using both real and artificial networks, showing in particular that we can accurately obtain the spectral ranking of small subgraphs. We also propose a local iterative scheme which computes the relative ranking of a subgraph using only the connectivity information of its neighbors within a few links. Our results may not only contribute to our theoretical understanding of dynamical processes on networks, but also lead to practical applications in ranking subgraphs of real complex networks.Comment: 9 pages, 3 figures, 2 table

Single polaron properties of the breathing-mode Hamiltonian

We investigate numerically various properties of the one-dimensional (1D) breathing-mode polaron. We use an extension of a variational scheme to compute the energies and wave-functions of the two lowest-energy eigenstates for any momentum, as well as a scheme to compute directly the polaron Greens function. We contrast these results with results for the 1D Holstein polaron. In particular, we find that the crossover from a large to a small polaron is significantly sharper. Unlike for the Holstein model, at moderate and large couplings the breathing-mode polaron dispersion has non-monotonic dependence on the polaron momentum k. Neither of these aspects is revealed by a previous study based on the self-consistent Born approximation

Quantum Circulant Preconditioner for Linear System of Equations

We consider the quantum linear solver for $Ax=b$ with the circulant preconditioner $C$. The main technique is the singular value estimation (SVE) introduced in [I. Kerenidis and A. Prakash, Quantum recommendation system, in ITCS 2017]. However, some modifications of SVE should be made to solve the preconditioned linear system $C^{-1} Ax = C^{-1} b$. Moreover, different from the preconditioned linear system considered in [B. D. Clader, B. C. Jacobs, C. R. Sprouse, Preconditioned quantum linear system algorithm, Phys. Rev. Lett., 2013], the circulant preconditioner is easy to construct and can be directly applied to general dense non-Hermitian cases. The time complexity depends on the condition numbers of $C$ and $C^{-1} A$, as well as the Frobenius norm $\|A\|_F$